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<div class="title">image.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011 Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_IO_IMAGE_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_IO_IMAGE_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/io/boost.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;boost/chrono.hpp&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/io/image_metadata_wrapper.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  { </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html">   56</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1io_1_1_image.html">Image</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;Image&gt; Ptr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const Image&gt; ConstPtr;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">typedef</span> boost::chrono::high_resolution_clock Clock;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keyword">typedef</span> boost::chrono::high_resolution_clock::time_point Timestamp;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;          BAYER_GRBG,</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          YUV422,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          <a class="code" href="structpcl_1_1_r_g_b.html">RGB</a></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        } Encoding;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html">Image</a> (FrameWrapper::Ptr image_metadata)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          : wrapper_ (image_metadata)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          , timestamp_ (Clock::now ())</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        {}</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html">Image</a> (FrameWrapper::Ptr image_metadata, Timestamp time)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          : wrapper_ (image_metadata)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          , timestamp_ (time)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        {}</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#aadb61949c5f434073ae35701a9a426bd">   85</a></span>&#160;        <span class="keyword">inline</span> <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1io_1_1_image.html#aadb61949c5f434073ae35701a9a426bd">~Image</a> ()</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        {}</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#a2594f37b96d6c6628939621ef2911a06">   96</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html#a2594f37b96d6c6628939621ef2911a06">isResizingSupported</a> (<span class="keywordtype">unsigned</span> input_width, <span class="keywordtype">unsigned</span> input_height,</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          <span class="keywordtype">unsigned</span> output_width, <span class="keywordtype">unsigned</span> output_height) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#abc950f2fc8591fe1f1f19d66ea3bcbc4">  107</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html#abc950f2fc8591fe1f1f19d66ea3bcbc4">fillRGB</a> (<span class="keywordtype">unsigned</span> width, <span class="keywordtype">unsigned</span> height, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* rgb_buffer, <span class="keywordtype">unsigned</span> rgb_line_step = 0) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keyword">virtual</span> Encoding</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#ae50f9bb3452a6674a8ea6191a81180b4">  114</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html#ae50f9bb3452a6674a8ea6191a81180b4">getEncoding</a> () <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#ae4acb82be1b59fc9b03f557c2f580c19">  121</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html#ae4acb82be1b59fc9b03f557c2f580c19">fillRaw</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* rgb_buffer)<span class="keyword"> const</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          memcpy (rgb_buffer, wrapper_-&gt;getData (), wrapper_-&gt;getDataSize ());</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#a6e2eed06efccfc3c13dbf4343641b0dd">  134</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html#a6e2eed06efccfc3c13dbf4343641b0dd">fillGrayscale</a> (<span class="keywordtype">unsigned</span> width, <span class="keywordtype">unsigned</span> height, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* gray_buffer,</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <span class="keywordtype">unsigned</span> gray_line_step = 0) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#a01dec8a22ba63e0e70e0ed6e2c503f64">  141</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html#a01dec8a22ba63e0e70e0ed6e2c503f64">getWidth</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          <span class="keywordflow">return</span> (wrapper_-&gt;getWidth ());</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#a65ff48e4156fb7bd55660acd59a4d072">  150</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html#a65ff48e4156fb7bd55660acd59a4d072">getHeight</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          <span class="keywordflow">return</span> (wrapper_-&gt;getHeight ());</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#a4bb0ce9951a1b71161792a16f9db446c">  160</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html#a4bb0ce9951a1b71161792a16f9db446c">getFrameID</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          <span class="keywordflow">return</span> (wrapper_-&gt;getFrameID ());</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        pcl::uint64_t</div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#a2e593e0eced8fe4719ca75ab2cb655fd">  170</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html#a2e593e0eced8fe4719ca75ab2cb655fd">getTimestamp</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          <span class="keywordflow">return</span> (wrapper_-&gt;getTimestamp ());</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        Timestamp</div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_image.html#a0001376d345fdfe04cdee8af640e1707">  181</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_image.html#a0001376d345fdfe04cdee8af640e1707">getSystemTimestamp</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          <span class="keywordflow">return</span> (timestamp_);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="comment">// Get a const pointer to the raw depth buffer</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">void</span>*</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        getData ()</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          <span class="keywordflow">return</span> (wrapper_-&gt;getData ());</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="comment">// Data buffer size in bytes</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        getDataSize ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          <span class="keywordflow">return</span> (wrapper_-&gt;getDataSize ());</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="comment">// Size of each row, including any padding</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        getStep()<span class="keyword"> const</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          <span class="keywordflow">return</span> (getDataSize() / getHeight());</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        FrameWrapper::Ptr wrapper_;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        Timestamp timestamp_;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    };</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  } <span class="comment">// namespace</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//PCL_IO_IMAGE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html">pcl::io::Image</a></div><div class="ttdoc">Image interface class providing an interface to fill a RGB or Grayscale image buffer.</div><div class="ttdef"><b>Definition:</b> image.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_a0001376d345fdfe04cdee8af640e1707"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#a0001376d345fdfe04cdee8af640e1707">pcl::io::Image::getSystemTimestamp</a></div><div class="ttdeci">Timestamp getSystemTimestamp() const</div><div class="ttdef"><b>Definition:</b> image.h:181</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_a01dec8a22ba63e0e70e0ed6e2c503f64"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#a01dec8a22ba63e0e70e0ed6e2c503f64">pcl::io::Image::getWidth</a></div><div class="ttdeci">unsigned getWidth() const</div><div class="ttdef"><b>Definition:</b> image.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_a2594f37b96d6c6628939621ef2911a06"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#a2594f37b96d6c6628939621ef2911a06">pcl::io::Image::isResizingSupported</a></div><div class="ttdeci">virtual bool isResizingSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const =0</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_a2e593e0eced8fe4719ca75ab2cb655fd"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#a2e593e0eced8fe4719ca75ab2cb655fd">pcl::io::Image::getTimestamp</a></div><div class="ttdeci">pcl::uint64_t getTimestamp() const</div><div class="ttdef"><b>Definition:</b> image.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_a4bb0ce9951a1b71161792a16f9db446c"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#a4bb0ce9951a1b71161792a16f9db446c">pcl::io::Image::getFrameID</a></div><div class="ttdeci">unsigned getFrameID() const</div><div class="ttdef"><b>Definition:</b> image.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_a65ff48e4156fb7bd55660acd59a4d072"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#a65ff48e4156fb7bd55660acd59a4d072">pcl::io::Image::getHeight</a></div><div class="ttdeci">unsigned getHeight() const</div><div class="ttdef"><b>Definition:</b> image.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_a6e2eed06efccfc3c13dbf4343641b0dd"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#a6e2eed06efccfc3c13dbf4343641b0dd">pcl::io::Image::fillGrayscale</a></div><div class="ttdeci">virtual void fillGrayscale(unsigned width, unsigned height, unsigned char *gray_buffer, unsigned gray_line_step=0) const =0</div><div class="ttdoc">fills a user given buffer with the gray values, with an optional nearest-neighbor down sampling and a...</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_aadb61949c5f434073ae35701a9a426bd"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#aadb61949c5f434073ae35701a9a426bd">pcl::io::Image::~Image</a></div><div class="ttdeci">virtual ~Image()</div><div class="ttdoc">virtual Destructor that never throws an exception.</div><div class="ttdef"><b>Definition:</b> image.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_abc950f2fc8591fe1f1f19d66ea3bcbc4"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#abc950f2fc8591fe1f1f19d66ea3bcbc4">pcl::io::Image::fillRGB</a></div><div class="ttdeci">virtual void fillRGB(unsigned width, unsigned height, unsigned char *rgb_buffer, unsigned rgb_line_step=0) const =0</div><div class="ttdoc">fills a user given buffer with the RGB values, with an optional nearest-neighbor down sampling and an...</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_ae4acb82be1b59fc9b03f557c2f580c19"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#ae4acb82be1b59fc9b03f557c2f580c19">pcl::io::Image::fillRaw</a></div><div class="ttdeci">virtual void fillRaw(unsigned char *rgb_buffer) const</div><div class="ttdoc">fills a user given buffer with the raw values.</div><div class="ttdef"><b>Definition:</b> image.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_image_html_ae50f9bb3452a6674a8ea6191a81180b4"><div class="ttname"><a href="classpcl_1_1io_1_1_image.html#ae50f9bb3452a6674a8ea6191a81180b4">pcl::io::Image::getEncoding</a></div><div class="ttdeci">virtual Encoding getEncoding() const =0</div><div class="ttdoc">returns the encoding of the native data.</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
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